Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
  • G01S17/06—Systems determining position data of a target
  • G01S17/42—Simultaneous measurement of distance and other co-ordinates
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
  • G01S17/50—Systems of measurement based on relative movement of target
  • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
• • G—PHYSICS
  • G08—SIGNALLING
  • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
  • G08B13/00—Burglar, theft or intruder alarms
  • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
  • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
  • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
  • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
  • G08B13/19695—Arrangements wherein non-video detectors start video recording or forwarding but do not generate an alarm themselves
• • G—PHYSICS
  • G08—SIGNALLING
  • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
  • G08B13/00—Burglar, theft or intruder alarms
  • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
  • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
  • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
  • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
  • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
  • G08B13/19608—Tracking movement of a target, e.g. by detecting an object predefined as a target, using target direction and or velocity to predict its new position
• • G—PHYSICS
  • G08—SIGNALLING
  • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
  • G08B13/00—Burglar, theft or intruder alarms
  • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
  • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
  • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
  • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
  • G08B13/19617—Surveillance camera constructional details
  • G08B13/1963—Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]

Definitions

• the present invention concerns the monitoring method using a camera system with an area movement detection.
• a rotationalCHPan Tilt Zoom" camera in short a PTZ camera, is a camera with possible remote horizontal and vertical rotation and with possible zoom function.
• the PTZ camera is manually controlled by keyboard or joystick.
• the PTZ camera is an integral part of supervise security camera systems. Those camera systems ensure to define pre-sets, i.e. user ' s predetermined positions of view of the camera, which are saved under specific dials. The user is able to bring out the pre-set manually by keyboard or automatically by specific control software, for example invoked by alarm event.
• the system enables to switch between predetermined positions, i.e. movement of the camera between predetermined positions. However, it doesn ' t mean movement of the camera into a new occurred point of interest.
• the auto tracking system concerns only moving pixels in the shot view of the camera, which is only a partial sector of the whole monitored view range of 360° of the PTZ camera. The camera knows nothing about a situation behind it. Because of that the auto tracking system can be abused by person, who entice the camera away by its movement, while the second person can break into the monitored area.
• a document US20100053330 presents a camera system with movement detection, where a laser system LIDAR is used to collect 3D data, where the data, which are leaving the system, can be used for monitoring of a PTZ camera.
• the system is usable for movement detection to ensure security in the area of interest.
• Disadvantage of the presented system is that the system arranges a pivoting camera into the area of disturbance, whereas the camera is at the axes of the LIDAR detector. It is not suspected to connect two coordinate systems, i.e. the coordinate system LIDAR and the coordinate system PTZ, which is necessary for the case of use of the system with a camera arranged out of the axes of the detector, or if the system is connected to more cameras.
• the aim of the present invention is to disclose a monitoring method using a camera system with an area movement detection, where above mentioned disadvantages of the state of the art are eliminated.
• a monitoring method using a camera system with an area movement detection comprising at least one PTZ camera with a native protocol and with a driver unit for pointing the camera to a point of interest in an area of interest, at least one detector for monitoring of the area of interest, a computer technology provided with a control software intended to create a dimensional coordinate grid of the area of interest on the bases of information gained from the detector about position of single points in the area of interest, where the computer technology is adapted to communicate with the PTZ camera and the detector, and which is further adapted to collect and evaluate the data and the information gained from the PTZ camera and the detector and to automatically set rotation of the PTZ camera with regards to the dimensional coordinates of the area of interest, a switch intended to connect the PTZ camera, the detector and the computer technology provided with the control software, where the detector is a LIDAR detector, whereas the data which transmitted from the detector to the computer technology are in a form of UDP packets, which are comprising information about distance between scanned points and the detector,
• FIG. 1 presents the camera system according to the invention.
• the camera system creates a 3D map by method of remote measuring of distance by calculation of speed of a laser beam pulse reflected from a solid object.
• a spectrum which is close to infrared spectrum is used.
• a laser beams are resistant to bad wind conditions such as fog and snowfall. Those are not influenced by changes of temperature, shadows and so on.
• a user has an opportunity to decide, which area will be monitored, on the bases of the 3D map.
• the system enables precise definition of an area of interest not only by 2D horizontal map but also by complete 3D map. If a disturbance is detected in the farer distance than is a defined distance of the area, such alert will be repressed.
• the system responds only to increased number of moving points. Those points represent moving objects and its precise parameters, i.e. position in the map or GPS coordinates.
• Fig. 1 presents the camera system with an area movement detection according to the invention, comprising at least one PTZ camera 1 with a driver intended to direct the camera, at least one individual LIDAR detector 2, which is separated from the PTZ camera, and which monitors an area 3 of interest, and a computer technology 4 with a control software, i.e. a control unit, which communicates with the PTZ camera 1 and the detector 2.
• the computer technology 4 :
• the point of interest is a point, which is monitored in the common regime or a point, where a movement or any other interruption was occurred.
• Both devices i.e. the PTZ camera 1 and the detector 2
• IP devices are IP devices connected by network active element, i.e. a switch, to a local computer network LAN to which also the computer technology 4 is connected.
• the 3D map is created by points stored at any time. A more precise and detailed 3D grid is possible to be reached by movement of the detector 2.
• volume of data is difficult to be processed.
• the data processing is carried out only during initialisation of the system or when objects in the monitored area is replaced by order of a caretaker of the area or automatically on the bases of a script.
• the performed map is intended for easy orientation of the caretaker in the monitored area.
• a gravitation data presented in the pre-scanned 3D map are used. Because of visualisation reason the data can be differentiated from the 3D map by colour.
• the PTZ camera 1 When the PTZ camera 1 is to be target it ' s position has to be known - i.e. a Wegzero position", it means its horizontal and vertical turn measured in degrees, and a value of zoom measured defined by value of a shot angle.
• PTZ D commonly used PTZ cameras use co called "Pelo D" protocol, which enables precise turning of it.
• it is necessary to turn the PTZ camera 1 by so called a ..native" protocol and a specially configured controller, which means by a protocol issued by producer of the camera system intended to ensure communication between the control software and the PTZ camera 1. Due to that automatic pivoting and zooming of the PTZ camera 1 into a point of interest, on the bases of an order specified by above mentioned values of vertical and horizontal turn and value of zoom, is performed.
• the PTZ camera 1 has the zero position set by producer, for example performed by magnetic contact placed in its body.
• the PTZ camera 1 can be provided by electronical compass for the reason of calibration.
• the camera 1 When the camera 1 is installed and initialled, it means when the camera is automatically arranged at the zero position, the needle of the compass is turned into the direction of the camera 1.
• an information about deviation between pre-set value of the zero position of the PTZ camera 1 , a horizontal grid and the needle of the compass is transmitted to the system. The deviation will be added or subtracted whenever the PTZ camera 1 will be directed to a new desired point of interest.
• the second option of synchronisation of the position of the PTZ camera 1 with regards to the 3D map is provided only by software.
• the PTZ camera 1 can be directed to the point in the 3D map by hand and calibrated to the point in the 3D map with regards to the real position of the PTZ camera 1 after the 3D map is scanned.
• a targets with a reflective surface.
• the laser detector 2 returns the reflection reflected from the reflective surface with an indication of a calibrated reflection. Those places can be presented in the 3D map by different colour.
• an area 3 of interest and its surrounding is scanned by a detector 2.
• a processed outcome of the scanning process is a quantity of points, which can be interpolated into a digital model of a surface or into a 3D model of a building or other objects.
• the detector 2 is arranged so as to scan the area 3 of interest.
• a pivoting PTZ camera 1 is installed in such way, that its position ensures scanning of the area 3 of interest. It is not necessary to arrange the PTZ camera 1 at the axes of the detector 2.
• the pivoting PTZ camera 1 are pointed to the point of interest by the computer technology 4 with accuracy +/- 3cm. That setting can be manual, by pointing to the point in the scanned grid, or automatic, invoked when the area is violated by moving object.
• the system knows an exact position of each moving point and its distance from the detector 2.
• a minimum size of a detectable object can be defined in the scanned digital model of the area 3 of interest. Possible definition of minimum size of a detected object depends on a distance between the object and the detector 2, respective on density of the grid.
• a maximum speed of a detectable object can be defined in the scanned digital model of the area 3 of interest. It is effective way how to eliminate a false alarm caused by for example a flying bird.
• the system turns the PTZ camera 1 into the area and activates a system of video detection. Activation of alarm is postponed until existence of the movement in the camera shot is confirmed, or is activated immediately.
• the impulse for turning the PTZ camera 1 is a signal transmitted from the computer technology 4 by controller.
• the detector 2 is a LIDAR detector comprising 16 canals, i.e. laser beams.
• a system equipped by such detector is able to define a grid with up to 57600 points. 288000 points per second are detected if speed is 5Hz. It is possible to use a detector 2 with 32 or 64 canals, i.e. laser beams, if a brother grid is required.
• Vertical resolution is 2°. Vertical resolution of a multichannel detector can be up to 0,3°.
• Horizontal resolution is 0,1 ° to 0,4°.
• Horizontal resolution of a multichannel detector can be up to 0,09°.
• the laser used in the presented embodiment has length of wave 905 nm, which is defined as a laser of low energy, i.e. the first class of classification.
• the first class is safe under all conditions. There is no health risk if a person look accidentally directly into a laser beam, because there is not exceeded a maximal expectable value of radiation, i.e. choir PE".
• a covering of the detector 2 is IP67.
• the detector 2 sends data to the computer technology 4 in a form of UDP packets comprising information about distance of the scanned points from the detector 2, about position of the scanned points, about calibrated images of shot points, about rotary angle of laser beams dispatched from the detector 2 and reflected from scanned points, and about GPS positions of scanned points.
• parameters of the PTZ camera 1 of the camera system according to the invention are defined as follows:
• a camera chip of the PTZ camera 1 is CMOS 1 ⁇ 2.8" HD ensures better shot function even in bad visibility condition.
• Horizontal pivoting speed is 240 s and vertical pivoting speed is 200 s.
• Example of horizontal distance between single beams of the detector 2, where the angle is 2°, is 10m/35cm, 20m/70cm, 30m/105cm, 40m/140cm, 50m/174cm, 60m/209cm, 70m/244cm, 80m/279cm, 90m/314cm, 100m/349cm.
• Example of vertical distance between single beams of the detector 2, when the angle is 0,1 °, is 10m/2cm, 20m/3cm, 30m/5cm, 40m/7cm, 50m/9cm, 60m/10cm, 70m/12cm, 80m/14cm, 90m/16cm, 100m/17cm.
• a detective cylinder with diameter 100m and height 51 m is created, i.e. with horizontal coverage 360° and a vertical coverage 30°.
• Density of the horizontal grid between single beams is sufficient also for a long distance. For a distance 60m from the detector 2 is vertical scattering of the beams only 10cm. For maximal distance 100m from the detector 2 is vertical scattering of the beams only 17cm. Because of the above mentioned density of the beams secure detection of persons is ensured even for the maximum distance.
• the pivoting PTZ camera 1 and the detector 2 is equipped by stative, i.e. practicetripody".
• the pivoting PTZ camera 1 and the detector 2 can be connected wirelessly to a local network LAN.
• the operator By scanning of a secured area by the detector 2, the operator get an exact map and a 3D model of the secured area. Because of that, difficult upload and calibration of a stationary map is not necessary, as it is known from the mobile systems known from the state of the art.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Electromagnetism (AREA)
• Computer Networks & Wireless Communication (AREA)
• General Physics & Mathematics (AREA)
• Multimedia (AREA)
• Optical Radar Systems And Details Thereof (AREA)
• Closed-Circuit Television Systems (AREA)

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Cited By (7)

Citations (5)

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• 2016
  • 2016-02-20 CZ CZ2016-95A patent/CZ201695A3/cs unknown
• 2017
  • 2017-02-17 WO PCT/CZ2017/050006 patent/WO2017140285A1/en not_active Ceased
  • 2017-02-17 EP EP17716103.1A patent/EP3452848B1/en active Active

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